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<title>Doxygen: pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt; 模板类 参考</title>
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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
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<div class="title">pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="transformation__estimation__point__to__plane__weighted_8h_source.html">transformation_estimation_point_to_plane_weighted.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.png" usemap="#pcl::registration::TransformationEstimationPointToPlaneWeighted_3C_20PointSource_2C_20PointTarget_2C_20MatScalar_20_3E_map" alt=""/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_functor.html">Functor</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_1_1_optimization_functor.html">OptimizationFunctor</a></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef Eigen::Matrix&lt; float, 4, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector4</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa1ef683e7e3a8d91e6397ef54508db2e">TransformationEstimationPointToPlaneWeighted</a> ()</td></tr>
<tr class="memdesc:aa1ef683e7e3a8d91e6397ef54508db2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:aa1ef683e7e3a8d91e6397ef54508db2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31190d3f78a943a90fa905514d3d8f15"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a31190d3f78a943a90fa905514d3d8f15">TransformationEstimationPointToPlaneWeighted</a> (const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> &amp;src)</td></tr>
<tr class="memdesc:a31190d3f78a943a90fa905514d3d8f15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a31190d3f78a943a90fa905514d3d8f15">更多...</a><br /></td></tr>
<tr class="separator:a31190d3f78a943a90fa905514d3d8f15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d584791047ba8edaca454ba5e09c36c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9d584791047ba8edaca454ba5e09c36c">operator=</a> (const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> &amp;src)</td></tr>
<tr class="memdesc:a9d584791047ba8edaca454ba5e09c36c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9d584791047ba8edaca454ba5e09c36c">更多...</a><br /></td></tr>
<tr class="separator:a9d584791047ba8edaca454ba5e09c36c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f10cd509f62acd1409e7b16f3eac574"><td class="memItemLeft" align="right" valign="top"><a id="a6f10cd509f62acd1409e7b16f3eac574"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a6f10cd509f62acd1409e7b16f3eac574">~TransformationEstimationPointToPlaneWeighted</a> ()</td></tr>
<tr class="memdesc:a6f10cd509f62acd1409e7b16f3eac574"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a6f10cd509f62acd1409e7b16f3eac574"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8077fa4e2aca0cb22546b1973c8a0bd2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a8077fa4e2aca0cb22546b1973c8a0bd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">更多...</a><br /></td></tr>
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<tr class="memitem:a4b7616190a77dff7009546c3b0baa7a6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a4b7616190a77dff7009546c3b0baa7a6">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a4b7616190a77dff7009546c3b0baa7a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a4b7616190a77dff7009546c3b0baa7a6">更多...</a><br /></td></tr>
<tr class="separator:a4b7616190a77dff7009546c3b0baa7a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affa31251ac3df980cac958242aec9893"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#affa31251ac3df980cac958242aec9893">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:affa31251ac3df980cac958242aec9893"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#affa31251ac3df980cac958242aec9893">更多...</a><br /></td></tr>
<tr class="separator:affa31251ac3df980cac958242aec9893"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5041facc55af4c6ef2b2f108b37845da"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a5041facc55af4c6ef2b2f108b37845da">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a5041facc55af4c6ef2b2f108b37845da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a5041facc55af4c6ef2b2f108b37845da">更多...</a><br /></td></tr>
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<tr class="memitem:a0d62ee9439baf9b9cda6c06d0f3fd77b"><td class="memItemLeft" align="right" valign="top"><a id="a0d62ee9439baf9b9cda6c06d0f3fd77b"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setWeights</b> (const std::vector&lt; double &gt; &amp;weights)</td></tr>
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<tr class="memitem:a509f761b6fd51f9a29db11623ae021d0"><td class="memItemLeft" align="right" valign="top"><a id="a509f761b6fd51f9a29db11623ae021d0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a509f761b6fd51f9a29db11623ae021d0">setUseCorrespondenceWeights</a> (bool use_correspondence_weights)</td></tr>
<tr class="memdesc:a509f761b6fd51f9a29db11623ae021d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">use the weights given in the pcl::CorrespondencesPtr for one of the estimateTransformation (...) methods <br /></td></tr>
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<tr class="memitem:ac02dcb949529eb673d902353c436ad03"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#ac02dcb949529eb673d902353c436ad03">setWarpFunction</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSource, PointTarget, MatScalar &gt; &gt; &amp;warp_fcn)</td></tr>
<tr class="memdesc:ac02dcb949529eb673d902353c436ad03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the function we use to warp points. Defaults to rigid 6D warp.  <a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#ac02dcb949529eb673d902353c436ad03">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">pcl::registration::TransformationEstimationLM&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a03a62429f0a21c65f30142da4c0b9c20 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="a03a62429f0a21c65f30142da4c0b9c20"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a03a62429f0a21c65f30142da4c0b9c20">TransformationEstimationLM</a> ()</td></tr>
<tr class="memdesc:a03a62429f0a21c65f30142da4c0b9c20 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:a4e6add987a9fbab7f31d392ea812e3f4 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a4e6add987a9fbab7f31d392ea812e3f4">TransformationEstimationLM</a> (const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;src)</td></tr>
<tr class="memdesc:a4e6add987a9fbab7f31d392ea812e3f4 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a4e6add987a9fbab7f31d392ea812e3f4">更多...</a><br /></td></tr>
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<tr class="memitem:aee755b2a9ec84236fc588221367d6628 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">operator=</a> (const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">TransformationEstimationLM</a> &amp;src)</td></tr>
<tr class="memdesc:aee755b2a9ec84236fc588221367d6628 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aee755b2a9ec84236fc588221367d6628">更多...</a><br /></td></tr>
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<tr class="memitem:aac5823e6f24d84e42a54df3cc0725471 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="aac5823e6f24d84e42a54df3cc0725471"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#aac5823e6f24d84e42a54df3cc0725471">~TransformationEstimationLM</a> ()</td></tr>
<tr class="memdesc:aac5823e6f24d84e42a54df3cc0725471 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a291b6c976ad0e887620c3fc6f46d041c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a291b6c976ad0e887620c3fc6f46d041c inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a291b6c976ad0e887620c3fc6f46d041c">更多...</a><br /></td></tr>
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<tr class="memitem:a20f96fb86da98bc933f5c9193db0dd3e inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a20f96fb86da98bc933f5c9193db0dd3e">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a20f96fb86da98bc933f5c9193db0dd3e inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a20f96fb86da98bc933f5c9193db0dd3e">更多...</a><br /></td></tr>
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<tr class="memitem:a7e062028fd76337136196970e9dfe5a2 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7e062028fd76337136196970e9dfe5a2">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a7e062028fd76337136196970e9dfe5a2 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7e062028fd76337136196970e9dfe5a2">更多...</a><br /></td></tr>
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<tr class="memitem:af21a92f170609e7c6732b55a3ed562ce inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af21a92f170609e7c6732b55a3ed562ce">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:af21a92f170609e7c6732b55a3ed562ce inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud using LM.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af21a92f170609e7c6732b55a3ed562ce">更多...</a><br /></td></tr>
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<tr class="memitem:a58db943b82754771d85e7781d178b1bf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">setWarpFunction</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSource, PointTarget, float &gt; &gt; &amp;warp_fcn)</td></tr>
<tr class="memdesc:a58db943b82754771d85e7781d178b1bf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the function we use to warp points. Defaults to rigid 6D warp.  <a href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a58db943b82754771d85e7781d178b1bf">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
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<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
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<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
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<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>use_correspondence_weights_</b></td></tr>
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std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>correspondence_weights_</b></td></tr>
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const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a></td></tr>
<tr class="memdesc:a9a76f8ffc1af3381de3ffe52256dc9ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset. <br /></td></tr>
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const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a></td></tr>
<tr class="memdesc:a25c896f93f052ad72bcd4268beac017f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset. <br /></td></tr>
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<tr class="memitem:a9623915c6e1a55cc2d6019553cac3a1f"><td class="memItemLeft" align="right" valign="top"><a id="a9623915c6e1a55cc2d6019553cac3a1f"></a>
const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a></td></tr>
<tr class="memdesc:a9623915c6e1a55cc2d6019553cac3a1f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset indices. <br /></td></tr>
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const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a></td></tr>
<tr class="memdesc:aa4cd3f6b20447bac66d6c02c5af69c67"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset indices. <br /></td></tr>
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boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a>&lt; PointSource, PointTarget, MatScalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a></td></tr>
<tr class="memdesc:a89c7b6260885beaf2ced53bca74b1f13"><td class="mdescLeft">&#160;</td><td class="mdescRight">The parameterized function used to warp the source to the target. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html">pcl::registration::TransformationEstimationLM&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:abef97e83c0e0e9b1358d558f5a56d1f7 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="abef97e83c0e0e9b1358d558f5a56d1f7"></a>
const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#abef97e83c0e0e9b1358d558f5a56d1f7">tmp_src_</a></td></tr>
<tr class="memdesc:abef97e83c0e0e9b1358d558f5a56d1f7 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset. <br /></td></tr>
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const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af17eaaec23033dc0b94c22275c52164f">tmp_tgt_</a></td></tr>
<tr class="memdesc:af17eaaec23033dc0b94c22275c52164f inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset. <br /></td></tr>
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const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#af75bf268c9136933175e7e7a09ee33ed">tmp_idx_src_</a></td></tr>
<tr class="memdesc:af75bf268c9136933175e7e7a09ee33ed inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the source dataset indices. <br /></td></tr>
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const std::vector&lt; int &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#ac6ff65ad09bae41216126d00133523a4">tmp_idx_tgt_</a></td></tr>
<tr class="memdesc:ac6ff65ad09bae41216126d00133523a4 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary pointer to the target dataset indices. <br /></td></tr>
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<tr class="memitem:a7ebed1d8e2ca08e832c6980b09afbb90 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="memItemLeft" align="right" valign="top"><a id="a7ebed1d8e2ca08e832c6980b09afbb90"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_l_m.html#a7ebed1d8e2ca08e832c6980b09afbb90">warp_point_</a></td></tr>
<tr class="memdesc:a7ebed1d8e2ca08e832c6980b09afbb90 inherit pro_attribs_classpcl_1_1registration_1_1_transformation_estimation_l_m"><td class="mdescLeft">&#160;</td><td class="mdescRight">The parameterized function used to warp the source to the target. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-types"></a>
Private 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSource</b></td></tr>
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typedef PointCloudSource::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourcePtr</b></td></tr>
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typedef PointCloudSource::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourceConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTarget</b></td></tr>
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typedef PointIndices::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef PointIndices::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1registration_1_1_transformation_estimation_point_to_plane"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1registration_1_1_transformation_estimation_point_to_plane')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">pcl::registration::TransformationEstimationPointToPlane&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:aa7c0ad539f81463c692e500c0ab76dad inherit pro_methods_classpcl_1_1registration_1_1_transformation_estimation_point_to_plane"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><b>computeDistance</b> (const PointSource &amp;p_src, const PointTarget &amp;p_tgt) const</td></tr>
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virtual float&#160;</td><td class="memItemRight" valign="bottom"><b>computeDistance</b> (const Vector4 &amp;p_src, const PointTarget &amp;p_tgt) const</td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename MatScalar = float&gt;<br />
class pcl::registration::TransformationEstimationPointToPlaneWeighted&lt; PointSource, PointTarget, MatScalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a></b> uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. In addition to the <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane.html">TransformationEstimationPointToPlane</a> class, this version takes per-correspondence weights and optimizes accordingly.</p>
<dl class="section author"><dt>作者</dt><dd>Alexandru-Eugen Ichim </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a31190d3f78a943a90fa905514d3d8f15"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a31190d3f78a943a90fa905514d3d8f15">&#9670;&nbsp;</a></span>TransformationEstimationPointToPlaneWeighted()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::<a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt; &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
          <td></td>
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<p>Copy constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> object to copy into this </td></tr>
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<div class="fragment"><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                                                                                                               :</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> (src.tmp_src_), </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> (src.tmp_tgt_), </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> (src.tmp_idx_src_), </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> (src.tmp_idx_tgt_), </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> (src.warp_point_),</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          correspondence_weights_ (src.correspondence_weights_),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          use_correspondence_weights_ (src.use_correspondence_weights_)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {};</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a25c896f93f052ad72bcd4268beac017f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_tgt_</a></div><div class="ttdeci">const PointCloudTarget * tmp_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a89c7b6260885beaf2ced53bca74b1f13"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">pcl::registration::TransformationEstimationPointToPlaneWeighted::warp_point_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::registration::WarpPointRigid&lt; PointSource, PointTarget, MatScalar &gt; &gt; warp_point_</div><div class="ttdoc">The parameterized function used to warp the source to the target.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9623915c6e1a55cc2d6019553cac3a1f"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_src_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_src_</div><div class="ttdoc">Temporary pointer to the source dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a9a76f8ffc1af3381de3ffe52256dc9ce"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_src_</a></div><div class="ttdeci">const PointCloudSource * tmp_src_</div><div class="ttdoc">Temporary pointer to the source dataset.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_aa4cd3f6b20447bac66d6c02c5af69c67"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">pcl::registration::TransformationEstimationPointToPlaneWeighted::tmp_idx_tgt_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset indices.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.h:200</div></div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a5041facc55af4c6ef2b2f108b37845da"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5041facc55af4c6ef2b2f108b37845da">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/4]</span></h2>

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<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud using LM. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Uses the weights given by setWeights. </dd></dl>
<div class="fragment"><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;{</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_correspondences = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (correspondences.size ());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  std::vector&lt;int&gt; indices_src (nr_correspondences);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  std::vector&lt;int&gt; indices_tgt (nr_correspondences);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    indices_src[i] = correspondences[i].index_query;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    indices_tgt[i] = correspondences[i].index_match;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">if</span> (use_correspondence_weights_)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    correspondence_weights_.resize (nr_correspondences);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      correspondence_weights_[i] = correspondences[i].weight;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a> (cloud_src, indices_src, cloud_tgt, indices_tgt, transformation_matrix);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted_html_a8077fa4e2aca0cb22546b1973c8a0bd2"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation</a></div><div class="ttdeci">void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using LM.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_point_to_plane_weighted.hpp:63</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8077fa4e2aca0cb22546b1973c8a0bd2">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar &gt; </div>
<table class="mlabels">
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud using LM. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Uses the weights given by setWeights. </dd></dl>
<div class="fragment"><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// &lt;cloud_src,cloud_src&gt; is the source dataset</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">if</span> (cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] &quot;</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;               cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () &lt; 4)     <span class="comment">// need at least 4 samples</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] &quot;</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Need at least 4 points to estimate a transform! Source and target have %lu points!\n&quot;</span>, </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;               cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (correspondence_weights_.size () != cloud_src.size ())</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] &quot;</span>);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Number of weights (%lu) differs than number of points (%lu)!\n&quot;</span>,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;               correspondence_weights_.size (), cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">int</span> n_unknowns = <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;getDimension ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  VectorX x (n_unknowns);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  x.setZero ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// Set temporary pointers</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = &amp;cloud_src;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = &amp;cloud_tgt;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  OptimizationFunctor functor (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()), <span class="keyword">this</span>);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  Eigen::NumericalDiff&lt;OptimizationFunctor&gt; num_diff (functor);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  Eigen::LevenbergMarquardt&lt;Eigen::NumericalDiff&lt;OptimizationFunctor&gt;, MatScalar&gt; lm (num_diff);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">int</span> info = lm.minimize (x);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// Compute the norm of the residuals</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation]&quot;</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;LM solver finished with exit code %i, having a residual norm of %g. \n&quot;</span>, info, lm.fvec.norm ());</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Final solution: [%f&quot;</span>, x[0]);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; n_unknowns; ++i) </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot; %f&quot;</span>, x[i]);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;]\n&quot;</span>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// Return the correct transformation</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;setParam (x);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  transformation_matrix = <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;getTransform ();</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = NULL;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = NULL;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#affa31251ac3df980cac958242aec9893">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using LM. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Uses the weights given by setWeights. </dd></dl>
<div class="fragment"><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;{</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != indices_tgt.size ())</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () &lt; 4)     <span class="comment">// need at least 4 samples</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::IterativeClosestPointNonLinear::estimateRigidTransformationLM] &quot;</span>);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Need at least 4 points to estimate a transform! Source and target have %lu points!&quot;</span>,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;               indices_src.size ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">if</span> (correspondence_weights_.size () != indices_src.size ())</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] &quot;</span>);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Number of weights (%lu) differs than number of points (%lu)!\n&quot;</span>,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;               correspondence_weights_.size (), indices_src.size ());</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordtype">int</span> n_unknowns = <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;getDimension ();  <span class="comment">// get dimension of unknown space</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  VectorX x (n_unknowns);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  x.setConstant (n_unknowns, 0);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="comment">// Set temporary pointers</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = &amp;cloud_src;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = &amp;cloud_tgt;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> = &amp;indices_src;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> = &amp;indices_tgt;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  OptimizationFunctorWithIndices functor (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_src.size ()), <span class="keyword">this</span>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  Eigen::NumericalDiff&lt;OptimizationFunctorWithIndices&gt; num_diff (functor);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  Eigen::LevenbergMarquardt&lt;Eigen::NumericalDiff&lt;OptimizationFunctorWithIndices&gt;, MatScalar&gt; lm (num_diff);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordtype">int</span> info = lm.minimize (x);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">// Compute the norm of the residuals</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] LM solver finished with exit code %i, having a residual norm of %g. \n&quot;</span>, info, lm.fvec.norm ());</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Final solution: [%f&quot;</span>, x[0]);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; n_unknowns; ++i) </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot; %f&quot;</span>, x[i]);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;]\n&quot;</span>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="comment">// Return the correct transformation</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;setParam (x);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  transformation_matrix = <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a>-&gt;getTransform ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = NULL;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = NULL;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> = <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> = NULL;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b7616190a77dff7009546c3b0baa7a6">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename MatScalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud using LM. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>Uses the weights given by setWeights. </dd></dl>
<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n&quot;</span>, indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (correspondence_weights_.size () != indices_src.size ())</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] &quot;</span>);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Number of weights (%lu) differs than number of points (%lu)!\n&quot;</span>,</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;               correspondence_weights_.size (), indices_src.size ());</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// &lt;cloud_src,cloud_src&gt; is the source dataset</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_correspondences = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  std::vector&lt;int&gt; indices_tgt;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  indices_tgt.resize(nr_correspondences);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    indices_tgt[i] = i;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a8077fa4e2aca0cb22546b1973c8a0bd2">estimateRigidTransformation</a>(cloud_src, indices_src, cloud_tgt, indices_tgt, transformation_matrix);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9d584791047ba8edaca454ba5e09c36c">&#9670;&nbsp;</a></span>operator=()</h2>

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template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&amp; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::operator= </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt; &amp;&#160;</td>
          <td class="paramname"><em>src</em></td><td>)</td>
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<p>Copy operator. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">src</td><td>the <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">TransformationEstimationPointToPlaneWeighted</a> object to copy into this </td></tr>
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<div class="fragment"><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9a76f8ffc1af3381de3ffe52256dc9ce">tmp_src_</a> = src.tmp_src_; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a25c896f93f052ad72bcd4268beac017f">tmp_tgt_</a> = src.tmp_tgt_; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a9623915c6e1a55cc2d6019553cac3a1f">tmp_idx_src_</a> = src.tmp_idx_src_;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#aa4cd3f6b20447bac66d6c02c5af69c67">tmp_idx_tgt_</a> = src.tmp_idx_tgt_; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> = src.warp_point_;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          correspondence_weights_ = src.correspondence_weights_;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          use_correspondence_weights_ = src.use_correspondence_weights_;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac02dcb949529eb673d902353c436ad03">&#9670;&nbsp;</a></span>setWarpFunction()</h2>

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template&lt;typename PointSource , typename PointTarget , typename MatScalar  = float&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html">pcl::registration::TransformationEstimationPointToPlaneWeighted</a>&lt; PointSource, PointTarget, MatScalar &gt;::setWarpFunction </td>
          <td>(</td>
          <td class="paramtype">const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSource, PointTarget, MatScalar &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>warp_fcn</em></td><td>)</td>
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<p>Set the function we use to warp points. Defaults to rigid 6D warp. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">warp_fcn</td><td>a shared pointer to an object that warps points </td></tr>
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<div class="fragment"><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        { <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation_point_to_plane_weighted.html#a89c7b6260885beaf2ced53bca74b1f13">warp_point_</a> = warp_fcn; }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation__point__to__plane__weighted_8h_source.html">transformation_estimation_point_to_plane_weighted.h</a></li>
<li>registration/include/pcl/registration/impl/<a class="el" href="transformation__estimation__point__to__plane__weighted_8hpp_source.html">transformation_estimation_point_to_plane_weighted.hpp</a></li>
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